Surgical cannulas, and related systems and methods

ABSTRACT

A surgical cannula includes an electrically conductive portion, an electrical connector interface configured to removably engage with an electrical connector electrically coupled to a patient return electrode, and an electrical connector sensing device configured to sense whether the electrical connector interface is engaged or disengaged with the electrical connector. Surgical systems include surgical cannulas. Methods relate to surgical cannulas.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application No.62/364,563, filed Jul. 20, 2016, which is incorporated by referenceherein in its entirety.

TECHNICAL FIELD

Aspects of the present disclosure relate to surgical cannulas havingelectrical grounding, and related systems and methods.

INTRODUCTION

Remotely-controlled surgical instruments, which can include teleoperatedsurgical instruments (e.g., surgical instruments operated at least inpart with computer assistance, such as instruments operated with robotictechnology) as well as manually operated (e.g., laparoscopic,thorascopic) surgical instruments, are often used in minimally invasivemedical procedures. During such procedures, a surgical instrument, whichmay extend through a cannula inserted into a patient's body, can beremotely manipulated to perform a procedure at a surgical site. Forexample, in a teleoperated surgical system, cannulas and surgicalinstruments can be mounted at manipulator arms of a patient side cartand be remotely manipulated via teleoperation at a surgeon console.

Teleoperated surgical instruments may include parts made of metal orother electrically conductive materials. Conductive materials can becomeelectrically charged in a surgical environment. When such an electricalcharge discharges, the discharge may occur in undesirable and/orunanticipated locations as the charge seeks a path to a lower electricpotential. In addition, a discharge can potentially damage theinstrument, particularly if the instrument includes electricalcomponents.

Accordingly, electrically conductive portions of a surgical cannula areoften electrically coupled to the patient's body to dissipate chargefrom surgical instruments and prevent buildup of electrical charge. Suchelectrical coupling may be achieved by connecting an electricalconductor between the electrically conductive portions of the surgicalcannula and the patient's body, and the patient may be electricallycoupled to a reference electrical potential associated with anelectrosurgical energy generator unit that supplies energy to a surgicalinstrument that is inserted through the cannula. The electrical couplingbetween the conductive portions of the cannula and the patient's bodycan be achieved by connecting a conductor (e.g., a cable, wire, etc.)between an electrode in contact with the patient's body and theconductive portions of the cannula.

It is desirable to improve upon cannula electrical grounding tofacilitate surgical procedures using electrical energy.

SUMMARY

Exemplary embodiments of the present disclosure may solve one or moreproblems and/or may demonstrate one or more desirable features, whichwill become apparent from the description that follows.

In accordance with various exemplary embodiments, a surgical cannulaincludes an electrically conductive portion, an electrical connectorinterface configured to removably engage with an electrical connectorelectrically coupled to a patient return electrode, and an electricalconnector sensing device configured to sense whether the electricalconnector interface is engaged or disengaged with the electricalconnector.

In accordance with various exemplary embodiments, a surgical systemincludes a surgical manipulator and a cannula. The cannula includes anattachment portion configured for attachment to the surgicalmanipulator, an electrical connector interface configured to removablyengage with an electrical connector electrically coupled with a patientreturn electrode, and an electrical connector sensing device configuredto provide information to a controller of the surgical system regardingan engaged or disengaged state of the electrical connector with theelectrical connector interface.

In accordance with various exemplary embodiments, a method includespositioning an electrode in conductive contact with an electricallyconductive body and engaging an electrical connector operatively coupledto the electrode to an electrical connector interface of a surgicalcannula. Engaging the electrical connector with the electrical connectorinterface electrically couples the electrical connector and theelectrical connector interface of the surgical cannula. The methodincludes changing a state of an electrical connector sensing deviceresponsive to the engaging of the electrical connector and theelectrical connector interface of the surgical cannula.

Additional objects, features, and/or advantages will be set forth inpart in the description which follows, and in part will be obvious fromthe description, or may be learned by practice of the present disclosureand/or claims. At least some of these objects and advantages may berealized and attained by the elements and combinations particularlypointed out in the appended claims.

Both the foregoing general description and the following detaileddescription are exemplary and explanatory only and are not restrictiveof the claims; rather, the claims should be entitled to their fullbreadth of scope, including equivalents.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure can be understood from the following detaileddescription, either alone or together with the accompanying drawings.The drawings are included to provide a further understanding of thepresent disclosure, and are incorporated in and constitute a part ofthis specification. The drawings illustrate one or more exemplaryembodiments of the present teachings and together with the descriptionserve to explain certain principles and operation.

FIG. 1 is a front view of an exemplary embodiment of a patient side cartof a teleoperated, computer-assisted surgical system;

FIG. 2 is a perspective view of a cannula and a portion of a surgicalinstrument manipulator according to an exemplary embodiment.

FIG. 3 is a side diagrammatic view of a cannula and a patient returnelectrode connector according to an exemplary embodiment.

FIG. 4 is a perspective view of a cannula according to an exemplaryembodiment.

FIG. 5 is a schematic view of a portion of a cannula and a portion of asurgical instrument manipulator according to an exemplary embodiment.

FIG. 6 is a schematic view of a portion of a cannula and a portion of asurgical instrument manipulator according to an exemplary embodiment.

FIG. 7 is a perspective view of a cannula and a portion of a surgicalinstrument manipulator according to another exemplary embodiment.

FIG. 8 side diagrammatic view of a cannula and a patient returnelectrode connector according to another exemplary embodiment.

FIG. 9 is a diagrammatic view of a portion of a teleoperated surgicalsystem according to an exemplary embodiment.

DETAILED DESCRIPTION

This description and the accompanying drawings that illustrate exemplaryembodiments should not be taken as limiting. Various mechanical,compositional, structural, electrical, and operational changes may bemade without departing from the scope of this description and theclaims, including equivalents. In some instances, well-known structuresand techniques have not been shown or described in detail so as not toobscure the disclosure. Like numbers in two or more figures representthe same or similar elements. Furthermore, elements and their associatedfeatures that are described in detail with reference to one embodimentmay, whenever practical, be included in other embodiments in which theyare not specifically shown or described. For example, if an element isdescribed in detail with reference to one embodiment and is notdescribed with reference to a second embodiment, the element maynevertheless be claimed as included in the second embodiment.

For the purposes of this specification and appended claims, unlessotherwise indicated, all numbers expressing quantities, percentages, orproportions, and other numerical values used in the specification andclaims, are to be understood as being modified in all instances by theterm “about,” to the extent they are not already so modified.Accordingly, unless indicated to the contrary, the numerical parametersset forth in the following specification and attached claims areapproximations that may vary depending upon the desired propertiessought to be obtained. At the very least, and not as an attempt to limitthe application of the doctrine of equivalents to the scope of theclaims, each numerical parameter should at least be construed in lightof the number of reported significant digits and by applying ordinaryrounding techniques.

It is noted that, as used in this specification and the appended claims,the singular forms “a,” “an,” and “the,” and any singular use of anyword, include plural referents unless expressly and unequivocallylimited to one referent. As used herein, the term “include” and itsgrammatical variants are intended to be non-limiting, such thatrecitation of items in a list is not to the exclusion of other likeitems that can be substituted or added to the listed items.

Further, this description's terminology is not intended to limit thedisclosure or claims. For example, spatially relative terms—such as“top”, “bottom”, “lower”, “upper”, “below”, “above”, “proximal”,“distal”, and the like—may be used to describe one element's orfeature's relationship to another element or feature as illustrated inthe orientation of the figures. These spatially relative terms areintended to encompass different positions (i.e., locations) andorientations (i.e., rotational placements) of a device in use oroperation in addition to the position and orientation shown in thefigures. For example, if a device in the figures is inverted, elementsdescribed as “below” or “beneath” other elements or features would thenbe “above” or “over” the other elements or features. Thus, the exemplaryterm “below” can encompass both positions and orientations of above andbelow. A device may be otherwise oriented (rotated 90 degrees or atother orientations) and the spatially relative descriptors used hereininterpreted accordingly. The relative proximal and distal directions ofsurgical instruments are labeled in the figures.

Various exemplary embodiments of the present disclosure include surgicalcannulas configured to provide information to a surgical systemregarding a connected state or disconnected state of an electricalconductor, such as an electrode and an associated cable and connector,configured to form a conductive path between an electrically conductiveportion of the surgical cannula and a patient's body. The electrode incontact with the patient may be characterized as a “return electrode”;for example, while the electrode may in one sense be considered to“ground” the cannula to the patient, the voltage potential of thepatient is not necessarily equal to earth ground. In accordance with anexemplary embodiment of the disclosure, the connected or disconnectedstate of the return electrode connector is indicated by the positionand/or polarity of one or more magnets disposed within the body of thecannula. For example, one or more sensors configured to recognize thepresence and/or polarity of a magnet may be included in a component,such as a manipulator arm, of a remotely controlled surgical system. Insome embodiments, the connected or disconnected state of the returnelectrode connector may be indicated by a radio frequency identification(RFID) device of the cannula, an electromagnetic or optical proximitysensor, or by other techniques.

Exemplary embodiments described herein may be used, for example, with ateleoperated, computer-assisted surgical system (sometimes referred toas robotic surgical systems) such as that described in, for example,U.S. Patent App. Pub. No. US 2013/0325033 A1, entitled “Multi-PortSurgical Robotic System Architecture” and published on Dec. 5, 2013,U.S. Patent App. Pub. No. US 2013/0325031 A1, entitled “Redundant Axisand Degree of Freedom for Hardware-Constrained Remote Center RoboticManipulator” and published on Dec. 5, 2013, and U.S. Pat. No. 8,852,208,entitled “Surgical System Instrument Mounting” and published on Oct. 7,2014, each of which is hereby incorporated by reference in its entirety.Further, the exemplary embodiments described herein may be used, forexample, with a da Vinci® Surgical System, such as the da Vinci Si®Surgical System or the da Vinci Xi® Surgical System, both with orwithout Single-Site® single orifice surgery technology, allcommercialized by Intuitive Surgical, Inc. Although various exemplaryembodiments described herein are discussed with regard to surgicalinstruments used with a patient side cart of a teleoperated surgicalsystem, the present disclosure is not limited to use with surgicalinstruments for a teleoperated surgical system. For example, variousexemplary embodiments of surgical cannulas described herein canoptionally be used in conjunction with hand-held, manual surgicalinstruments.

Referring now to FIG. 1, an exemplary embodiment of a patient side cart1000 of a teleoperated, computer-assisted surgical system is shown. Ateleoperated surgical system may further include a surgeon console (notshown) for receiving input from a user to control instruments mounted atpatient side cart 1000. According to an exemplary embodiment, patientside cart 1000 includes a base 1020 and a main column 1040. The patientside cart 1000 also includes a plurality of teleoperated manipulatorarms 1100, 1110, 1120, 1130 (sometimes referred to as patient sidemanipulators), which are each connected to the main column 1040 asdepicted in the exemplary embodiment of FIG. 1. Manipulator arms 1100,1110, 1120, 1130 may each include an instrument mount portion 1200 towhich an instrument 1300 may be mounted. Portions of the manipulatorarms 1100, 1110, 1120, 1130 may be manipulated during a surgicalprocedure according to commands provided by a user at the surgeonconsole. In an exemplary embodiment, signal(s) or input(s) transmittedfrom a surgeon console are transmitted to the control/vision cart, whichinterprets the input(s) and generate command(s) or output(s) to betransmitted to the patient side cart 1000 to cause manipulation of aninstrument 1300 (only one such instrument being mounted in FIG. 1)and/or portions of manipulator arm 1100 to which the instrument 1300 iscoupled at the patient side cart 1000.

Instrument mount portion 1200 may comprise an actuation interfaceassembly 1220 and a cannula mount 1240. A shaft 1320 of instrument 1300extends through cannula mount 1240 and mounted cannula, and on to aremote site during a surgical procedure. A force transmission mechanism1340 at a proximal end of instrument 1300 is mechanically coupled withthe actuation interface assembly 1220, according to an exemplaryembodiment. Persons skilled in the art are familiar with surgicalinstrument force transmission mechanisms, which receive a mechanicalinput force from a source (e.g., an electric motor on a manipulator armsupporting the instrument) and convert and/or redirect the receivedforce to an output force to drive a component (e.g., a wrist, an endeffector, etc.) at a relatively distal end portion of the instrument.Cannula mount 1240 may be configured to hold a cannula 1360 throughwhich shaft 1320 of instrument 1300 may extend to a surgery site duringa surgical procedure. Actuation interface assembly 1220 may contain avariety of drive and other mechanisms that are controlled to respond toinput commands at the surgeon console and transmit forces to the forcetransmission mechanism 1340 to actuate instrument 1300, as those skilledin the art are familiar with.

Referring now to FIG. 2, a cannula 100 according to an embodiment of thedisclosure is shown. The cannula 100 includes a bowl portion 102 forminga proximal end 104 of the cannula and a tube 106 extending from the bowlportion 102 to a distal end 108 of the cannula 100. A portion of thecannula 100 may be inserted at least partially through an opening in apatient's body to a surgical site. For example, the distal end 108 ofthe cannula 100 may be inserted through an opening, such as an incisionor natural orifice, with or without a surgical port, to the surgicalsite. A surgical instrument (e.g., surgical instrument 1300 shown inFIG. 1) may be inserted into the proximal end 104 of the cannula 100 andextended through the bowl portion 102, the tube 106, and out through thedistal end 108 of the cannula 100 to a surgical site.

The cannula 100 may include a return electrode connector interface 110configured to accept a return electrode connector 112 (FIG. 3). Thereturn electrode connector interface 110 may include one or moreelectrical contacts 114 configured to conductively couple with matingelectrical contacts (not shown) of the return electrode connector 112.The return electrode connector interface 110 may also be characterizedas a complementary electrical connector. The electrical contacts 114 mayform a portion of a conductive path between electrically conductiveportions of the cannula 100 and a body of a patient through a conductor(e.g., wire) 116 (FIG. 3) connected to an electrode conductively coupledto a patient's body (e.g., electrode 650 shown in FIG. 9).

In exemplary embodiments, the interface 110 may be configured as afemale connector portion (e.g., a receptacle) and the return electrodeconnector 112 may be configured as a male connector portion (e.g., aplug). Alternatively, the interface may be configured as a maleconnector portion (e.g., a plug) and the return electrode connector 112may be configured as a female connector portion (e.g., a receptacle).

The cannula 100 may include an attachment portion 118 configured toattach the cannula 100 to a component (e.g., patient side manipulator orarm) of a surgical system, such as that described in detail in Intl Pub.No. WO2015/0142812, filed Mar. 17, 2015 and entitled “Surgical Cannulasand Related Systems and Methods of Identifying Surgical Cannulas,” whichis incorporated by reference herein in its entirety. For example, asshown in FIG. 2, the attachment portion 118 of the cannula 100 may beconfigured to be inserted within a receptacle 120 of a manipulator arm122 (e.g., manipulator arm 1100 (FIG. 1)) (also called “manipulator122”) of a patient side cart. When inserted within the manipulator armreceptacle 120, the attachment portion 118 may be electrically insulatedfrom the manipulator arm 122.

The cannula 100 may include a sensing system (e.g., sensing device,sensing component, etc.) configured to provide information relating tothe connected or disconnected status of the return electrode connector111 with the return electrode connector interface 110 of the cannula100. The provided information is transmitted through the manipulator arm122 to the teleoperated surgical system, and the teleoperated surgicalsystem indicates the connected or disconnected status of the returnelectrode connector 111 to an operator (e.g., nurse, surgeon,technician, etc.) with a visual indicator such as a warning light or amessage on a display screen, an audible indicator such as an alarm, oranother indicator. Such an indicator may be included in a displayportion (not shown) of the teleoperated surgical system. Additionally oralternatively, the teleoperated surgical system may include a lockoutsystem configured to disable a function of a surgical instrument whenthe return electrode connector 111 is determined to be in a disconnectedstate from the interface 110. For example, the surgical system may beconfigured to prevent application of electrical power to a surgicalinstrument (e.g., surgical instrument 646 shown in FIG. 9), such as anelectrocautery tool, when the return electrode connector 111 is notconnected at the return electrode connector interface 110 of the cannula100.

The sensing system can include one or more of mechanical devices,optical devices, electrical devices, magnetic devices and/or othersensing devices. As a non-limiting example, the sensing system mayinclude a component of the cannula 100 configured to be recognized by asensor in the manipulator arm 122 of the teleoperated surgical system.For example, the sensing component of the cannula 100 may be configuredto be recognized by one or more of a proximity sensor, such as aphotoelectric or electromagnetic sensor, a radio-frequencyidentification (RFID) sensor, a Hall-effect sensor, etc. of themanipulator arm 122. In some exemplary embodiments, the sensingcomponent may be configured to change from a first state to a secondstate when the return electrode connector 112 is in a connected statewith the return electrode connector receptacle comprising the returnelectrode connector interface 110 of the cannula 100.

In various exemplary embodiments, the first state and the second statemay include, for example, a position, orientation, or other physicalconfiguration of the sensing component, an electrical or magnetic stateof the component, etc. For example, the first state and the second statemay refer to physical positions and/or orientations of a magnet sensedby, e.g., a hall-effect sensor or other magnetic sensor, a shutter orother component sensed by a proximity sensor, etc. In some exemplaryembodiments, the first state and the second state may refer to energizedand non-energized states of a passive RFID tag, transmitting andnon-transmitting states of a battery-assisted passive RFID tag, etc. Inan exemplary embodiment, changing the state of the electrical connectorsensing device includes changing radio-frequency electromagnetic waves(e.g., those being emitted by an RFID tag) being sensed by an electricalconnector sensing device (e.g., an RFID sensor).

In various exemplary embodiments, the return electrode connectorinterface 110 is positioned laterally opposite to the attachment portion118 of the cannula 100. With reference now to FIG. 3, cannula 200 has amechanical device 224 located between the attachment portion 118 of thecannula 200 and a return electrode connector interface 210 (also called“return electrode connector receptacle 210” in various embodiments). Themechanical device 224 is configured to alter in position and/orconfiguration when the return electrode connector 112 is engaged (e.g.,mated) with the return electrode connector interface 210, such as beinginserted within a receptacle of the return electrode connector interface210. In some exemplary embodiments, the position and/or orientation of acomponent within or near the attachment portion 118 of the cannula maybe altered by the mechanical device 224 responsive to the act ofengaging or disengaging the return electrode connector 112 with thereturn electrode connector 112.

For example, in the exemplary embodiment of FIG. 3, the cannula 200includes a pushrod 230 extending laterally across a portion of thecannula 200 from the return electrode connector interface 210 to theattachment portion 118. The pushrod 230 may be in contact with a plunger226 that is configured to extend at least partially into the returnelectrode connector receptacle 210 when the return electrode connectoris not located within the return electrode connector receptacle 210.Insertion of the return electrode connector 112 within the returnelectrode connector receptacle 210 may cause the return electrodeconnector 112 to push against the plunger 226, forcing the plunger 226to move downward (i.e., in a direction away from the return electrodeconnector 112 and generally parallel to a longitudinal axis of thecannula 200). Interaction between the pushrod 230 and the plunger 226may convert the longitudinal motion of the plunger 226 to lateralmovement in the pushrod 230, forcing the pushrod 230 to move indirection 232. For example, in the exemplary embodiment of FIG. 3,complementary inclined planes 227 of the pushrod 230 and the plunger 226convert the longitudinal motion of the plunger 226 to lateral movementof the pushrod 230. Thus, insertion of the return electrode connector112 within the return electrode connector receptacle 210 causes thepushrod 230 to move from a position representing a disconnected state ofthe return electrode connector 112, to another position along direction232 representing a connected state of the return electrode connector112. Movement of the pushrod 230 in turn changes the position and/ororientation of a sensing device disposed within the attachment portion118, as discussed in greater detail in connection with the exemplaryembodiments of FIGS. 3 and 4 below.

Other structures and configurations may be used to cause a change instate (e.g., position, orientation, etc.) of a component of the sensingsystem. For example, in other exemplary embodiments, the pushrod 230 andthe plunger 226 are a single rigid part configured to translatelaterally as a unit in response to the return electrode connector beingengaged with the return electrode interface 210. In some exemplaryembodiments, the pushrod 230 may be replaced by a pivoting lever, or byany other mechanism configured to transfer movement between the returnelectrode connector 112 and an sensing device within the attachmentportion 118. In some embodiments, the pushrod 230, or other mechanism ofthe sensing system, is biased, e.g., by a spring or other biasingelement, to ensure that the sensing system returns to a positionrepresenting the disconnected state of the return electrode connector112 when the return electrode connector 112 is removed from the returnelectrode connector receptacle 210.

Referring now to FIG. 4, another view of the cannula 200 of FIG. 3 isshown. As seen in FIG. 4, the attachment portion 118 of the surgicalcannula 200 may include an array of magnets 336 (e.g., a 2×2 array beingdepicted) (also called “array 336”). The array of magnets 336 andrelated portions of the surgical cannula 200 may be substantially asdescribed at least in Intl Pub. No. WO 2015/0142812, as incorporated byreference above. As described therein, the array of magnets 336 isconfigured to interact with sensors (e.g., Hall-effect sensors) disposedwithin a manipulator (e.g., manipulator 122 (FIG. 2)) to identifyvarious aspects or parameters of the cannula 100. For example, asdiscussed in WO 2015/0142812, the presence, absence, and/or polarity ofeach magnet of the array of magnets 336 can be associated with aparticular aspect of the cannula 200 such as bowl diameter, length,shape of tube, number of uses, etc. Sensors within the manipulator 122transmit information regarding the presence and/or polarity of eachmagnet of the array 336 to the surgical system, where informationregarding the particular combination of magnets and polarity is utilizedby a processor or controller and memory to identify the configurationand/or state of the cannula 200.

In addition, in accordance with exemplary embodiments of the disclosure,the information provided to the surgical system by the array of magnets336 include the connected or disconnected state of the return electrodeconnector 112. For example, the combination of presence and/or polarityof the magnets of the array 336 can be used to identify the particulardesign of the cannula 200 (e.g., bowl diameter, tube length, shape oftube, etc.) and the position and/or polarity of one or more magnets ofthe array 336 also indicates whether the return electrode connector 112is in a connected state with the cannula 200.

In an exemplary embodiment, a magnet 338 of the array 336 ismechanically coupled with the pushrod 230 (FIG. 3), such that movementof the pushrod 230 (e.g., as the return electrode connector 112 isinserted within or removed from the return electrode connectorreceptacle 210 (FIG. 3)) causes a corresponding movement of the magnet338. For example, the magnet 338 may be mechanically coupled directlywith the pushrod 230 or through a linkage, a rack and pinion gear, etc.,or any other suitable mechanical device. Movement of the pushrod 230from a first position associated with the absence of the returnelectrode connector 112 from the return electrode connector receptacle210 to a second position associated with the presence of the returnelectrode connector 112 within the return electrode connector receptaclecomprising the return electrode connector interface 110 thereby movesthe magnet 338 from a first position, configuration, and/or orientationto a second position, configuration, and/or orientation in a mannerrecognized by a sensor within the manipulator 122 (FIG. 2).

In an exemplary embodiment, movement of the magnet 338 comprisestranslational movement from a first position within the attachmentportion 118 to a second position within the attachment portion 118. Inthe first position, the magnet 338 is positioned proximate (e.g., withina sensing range of) a sensor, such as a Hall-effect sensor 123 (FIG. 2),within the receptacle 120 (FIG. 2) of the manipulator arm 122 (FIG. 2)when the attachment portion 118 is disposed within the receptacle 120.In the second position, the magnet 338 is positioned out of the sensingrange of the sensor 123 when the attachment portion 118 is disposedwithin the receptacle 120. In other words, inserting the returnelectrode connector 112 within the return electrode connector receptacle210 (FIG. 3) moves the magnet 338 from a first position in which themagnet 338 is within a sensing range of the sensor 123 in themanipulator 122, to a second position in which the magnet 336 is notwithin the sensing range of the sensor 123 in the manipulator 122. Thepresence or absence of the magnet 338 from the sensing range of thesensor 123 indicates to the surgical system the connected ordisconnected status of the return electrode connector 112.

For example, with reference now to FIG. 5, a schematic view of anexemplary embodiment of a portion of a return electrode sensing device501 is shown. In the embodiment of FIG. 5, a pushrod 530 supports amagnet 538, which may, in some exemplary embodiments, form a portion ofan array of magnets (e.g., array 336 shown in FIG. 4). The pushrod 530is configured to move along direction 532 as a return electrodeconnector (e.g., the return electrode connector 111 in FIG. 2) isengaged with, or removed from, a return electrode connector interface(e.g., the return electrode connector interface 110 in FIG. 3). As shownin FIG. 5, the magnet 538 may be disposed proximate (e.g., within asensing range of) a sensor 523 (similar to, e.g., sensor 123 discussedin connection with FIG. 2) when the pushrod 530 is in a positionassociated with the return electrode connector being engaged with thereturn electrode connector interface, as shown in solid lines in FIG. 5.When the return electrode connector is disengaged from the returnelectrode connector interface, the pushrod 530 and magnet 538 arepositioned as shown in the dashed lines in FIG. 5, and the magnet 538 ispositioned outside of a sensing range of the sensor 523. Informationregarding the position of the magnet 538 within, or outside of, thesensing range of the sensor 523 is processed by the surgical system toprovide, e.g., a warning indication at a user interface (not shown) ofthe surgical system, a lockout condition, etc.

Additionally or alternatively, movement of the magnet 338 may comprisemovement that changes the pole of the magnet 338 presented to the sensor123 of the receptacle 120 of the manipulator 122 (FIG. 2). For example,in a first rotational position, one of the north pole and the south poleof the magnet is proximate the sensor 123 within the receptacle 120 ofthe manipulator 122. Movement of the pushrod 230 causes the magnet 336to rotate until the other of the north pole and south pole is proximatethe sensor 123. Accordingly, the polarity of the magnet 338 presented tothe sensor 123 may be used to determine the connected or disconnectedstatus of the return electrode connector 112.

For example, with reference now to FIG. 6, a schematic view of anotherexemplary embodiment of a portion of a return electrode sensing system601 is shown. In the embodiment of FIG. 6, a pushrod 630 is connected toa magnet 638 by a rack 625 and pinion 626 gear set. The magnet 638 isrotatably attached (e.g., by a bearing, pin, etc.) to a cannula (e.g.,at an attachment portion such as attachment portion 118 of cannula 100(FIG. 2)) and positioned proximate a sensor 623 when the attachmentportion 118 is engaged with the portion of the manipulator arm 122 (FIG.2). The pushrod 630 moves along direction 632 as a return electrodeconnector (e.g., the return electrode connector 111 in FIG. 2) isengaged with, or disengaged from, a return electrode connector interface(e.g., the return electrode connector interface 110 in FIG. 3). Linearmovement of the pushrod 630 is converted to rotational movement of themagnet 638 through the rack 625 and pinion 626 gear set. In other words,as the pushrod 630 moves along direction 632, the pinion gear 626 andmagnet 638 rotate together about a rotational axis 627 of the piniongear 626, as indicated by directional arrows 628. In the exemplaryembodiment of FIG. 6, the magnet 638 has a north pole N and a south poleS. In the position illustrated in FIG. 6, the south pole S of the magnet638 is positioned proximate the sensor 623 when the return electrodeconnector 111 is engaged with the return electrode connector interface110. When the return electrode connector 111 is disengaged from thereturn electrode connector interface 110, movement of the pushrod 630and the rack 625 causes the pinion 626 and magnet 638 to rotate 180degrees, positioning the north pole N of the magnet 638 proximate thesensor 623. Information regarding which pole of the magnet 638 ispositioned proximate the sensor 623 may be processed by the surgicalsystem, and the surgical system user interface may provide a warning orlockout condition based on the connected or disconnected status of thereturn electrode connector 111.

While the above description is made with reference to a single magnet338, any number or combinations of magnets of the array of magnets 336may be configured to indicate the connected or disconnected state of thereturn electrode connector 112.

In another exemplary embodiment, the connected or disconnected state ofa return electrode connector (e.g., return electrode connector 112 shownin FIG. 3) with a cannula may be indicated by a proximity sensor. Forexample, FIG. 7 illustrates another exemplary embodiment of a surgicalcannula 400 according to the disclosure. The surgical cannula 400 mayhave similar parts as surgical cannula 200 described in connection withFIGS. 3 through 4. However, the surgical cannula 400 includes a shutter438 positioned in an opening 440 of an attachment portion 418 of thecannula 400. The shutter 438 is configured to move between a firstposition, in which the shutter 438 is outside of sensing proximity of aproximity sensor 442 disposed in a manipulator arm 422, and a secondposition, in which the shutter 438 is within sensing proximity of theproximity sensor 442. The proximity sensor 442 may comprise, forexample, one or more of an optical proximity sensor, an electromagneticproximity sensor, etc.

Movement of the shutter 438 between the first position and the secondposition may be caused by mating of a return electrode connector (e.g.,return electrode connector 112 shown in FIG. 3) with a return electrodeconnector interface. For example, in the exemplary embodiment of FIG. 7,the cannula 400 includes a return electrode connector interface 410similar to the interface 110 described above in connection with FIG. 2.In an exemplary embodiment, movement of the shutter 438 may be effectedby a mechanism similar to the pushrod 230 described in connection withFIG. 3. Information regarding the connected or disconnected state of thereturn electrode connector may thus be provided in a manner otherwisesimilar to that discussed above in connection with the embodiment ofFIGS. 2 through 4.

Although not illustrated in FIG. 5, the cannula 400 may also include anarray of magnets similar to the array of magnets 336 described inconnection with FIG. 4. Such an array may be similarly configured toprovide information regarding various parameters of the cannula 400 to asurgical system of which the manipulator arm 422 forms a part asdescribed above in connection with FIG. 4. However, those of ordinaryskill in the art will appreciate that use of such a magnet array isoptional.

Referring now to FIG. 8, another exemplary embodiment of a cannula 500and a return electrode connector 512 according to the disclosure isshown. In this embodiment, the return electrode connector 512 includes aradio frequency identification (RFID) tag 544 configured and positionedto be recognized by an RFID sensor (not shown) positioned on amanipulator (e.g., manipulator 122 shown in FIG. 2) when the returnelectrode connector 512 is within a specified range of the RFID sensor.For example, the RFID tag 544 of the return electrode connector 512 iswithin the specified range of the RFID sensor when the return electrodeconnector 512 is engaged with a return electrode connector interface510, and the RFID tag 544 is outside of the specified range of the RFIDsensor when the return electrode connector 512 is disconnected frommating engagement with the return electrode connector interface 510,such as being removed from mating engagement with the return electrodeconnector interface 510. Thus, when the return electrode connector 512is not in an electrically connected state with the cannula 500, the RFIDsensor within the manipulator may recognize the absence of the RFID tag544 of the return electrode connector 512. As described above, thesurgical system may provide a visual or audible indication, or a lockoutcondition, based on the disconnected state of the return electrodeconnector 512.

In the exemplary embodiments of FIGS. 2, 3, 7, and 8, the electricalconnector interface 110, 210, 410, and 510 is configured as a receptacle(i.e., female connector portion), and the connector 111, 112, and 512 isa plug (i.e., male connector portion) configured for insertion withinthe receptacle. However, as discussed above, those having ordinary skillin the art would appreciate that such an arrangement is exemplary innature. For example, in some exemplary embodiments, the connectorinterface 110, 210, 410, and 510 may be configured as a plug and theelectrical connector 111, 112, and 512 may be configured as areceptacle. Other exemplary embodiments may include differentconfigurations of plugs and receptacles, or any other configuration ofcomponents configured to form an electrical and/or mechanical connectionas described above.

FIG. 9 is a diagrammatic view of an exemplary teleoperated surgicalsystem, with a cannula 600 and an instrument 646 shown in place on asurgical system 664 as well as in detail view. The cannula 600illustrated in FIG. 9 can be any one of cannulas 100, 200, 400, or 500,illustrated in FIGS. 2 through 4, 7 and 8. Return electrodes 648 and 650are disposed beneath a patient 652 positioned on an operating table 654,for example, beneath the patient's shoulders and buttocks, or at otherlocations that provide sufficient surface area contact between thereturn electrodes 648 and 650 and the patient's body so as to permitelectrical conductance therebetween. The return electrode 648 also iselectrically coupled to an electrosurgical generator unit 656 through acable 658. The electrode 650 is configured to be electrically coupled tothe cannula 600 through a return electrode connector 612 of a cable 660configured to connect with a return electrode connector interface 610 ofthe cannula 600. Such connection forms an electrical contact between thepatient 652 and the cannula 600. An electrically conductive path is thuscreated from the cannula 600 to the patient 652 through the electrode650, and to the electrosurgical generator unit 656 from the electrode648.

The cannula 600 is configured to be disposed within an incision ororifice of the patient 652, such as within a surgical port (not shown).The instrument 646 may include a shaft 662 extending through the cannula600 with an end effector 663 configured to perform a function such as,for example, stapling, cutting, cauterizing, suturing, clamping, etc.,or combinations thereof. The cannula 600 and instrument 646 may beconnected to a patient side manipulator 664, such as those disclosed atleast in Intl Pub. No. WO2015/0142812, U.S. Patent App. Pub. No. US2013/0325033, U.S. Patent App. Pub. No. US 2013/0325031, and U.S. Pat.No. 8,852,208, each of which is incorporated by reference above.

The cannula 600 and the patient side manipulator 664 may include areturn electrode connection sensing system according to any of theexemplary embodiments described above in connection with FIGS. 2 through8. For example, a return electrode connection sensing system may beconfigured to sense the engaged or disengaged state of the returnelectrode connector 612 with the return electrode connector interface610 of the cannula 600, as described in the exemplary embodiments above.

The patient side manipulator 664 may be configured to provide varioussafety notifications and/or interlocks based on the engaged ordisengaged state of the return electrode connector 612 with the returnelectrode connector interface 610 of the cannula 600. For example, asdescribed above, a user interface (not shown) associated with thepatient side manipulator 664 may be configured to provide a visualand/or audible notification to alert a user of the engaged or disengagedstate of the return electrode connector interface 610 with the cannula600. Additionally or alternatively, the user interface and/or thepatient side manipulator may be configured to prevent application ofelectrical energy to the end effector 663 when the return electrodeconnector 612 is disengaged from the return electrode connectorinterface 610 of the cannula 600.

Further modifications and alternative embodiments will be apparent tothose of ordinary skill in the art in view of the disclosure herein. Forexample, the devices, systems, and methods may include additionalcomponents or steps that were omitted from the diagrams and descriptionfor clarity of operation. Accordingly, this description is to beconstrued as illustrative only and is for the purpose of teaching thoseskilled in the art the general manner of carrying out the presentdisclosure. It is to be understood that the various embodiments shownand described herein are to be taken as exemplary. Elements andmaterials, and arrangements of those elements and materials, may besubstituted for those illustrated and described herein, parts andprocesses may be reversed, and certain features of the presentdisclosure may be utilized independently, all as would be apparent toone skilled in the art after having the benefit of the descriptionherein. Changes may be made in the elements described herein withoutdeparting from the scope of the present disclosure and following claims.

It is to be understood that the particular examples and embodiments setforth herein are non-limiting, and modifications to structure,dimensions, materials, and methodologies may be made without departingfrom the scope of the present disclosure.

Other embodiments in accordance with the present disclosure will beapparent to those skilled in the art from consideration of thespecification and practice of the invention disclosed herein. It isintended that the specification and examples be considered as exemplaryonly, with being entitled to their full breadth of scope, includingequivalents by the following claims.

What is claimed is:
 1. A surgical cannula, comprising: an electricallyconductive portion; an electrical connector interface configured toremovably engage with an electrical connector electrically coupled to apatient return electrode; and an electrical connector sensing deviceconfigured to sense whether the electrical connector interface isengaged or disengaged with the electrical connector.
 2. The surgicalcannula of claim 1, wherein the electrical connector sensing device hasa first state when the electrical connector is engaged with theelectrical connector interface, and has a second state when theelectrical connector is not engaged with the electrical connectorinterface.
 3. The surgical cannula of claim 2, wherein the electricalconnector sensing device comprises at least one magnet.
 4. The surgicalcannula of claim 3, wherein the at least one magnet is configured to bein a first configuration when the electrical connector sensing device isin the first state, and wherein the at least one magnet is configured tobe in a second configuration when the electrical connector sensingdevice is in the second state.
 5. The surgical cannula of claim 4,wherein the at least one magnet is configured to be in a first positionwhen the electrical connector sensing device is in the first state andin a second position when the electrical connector sensing device is inthe second state.
 6. The surgical cannula of claim 4, wherein the atleast one magnet is configured to be in a first rotational orientationwhen the electrical connector sensing device is in the first state and asecond rotational orientation when the electrical connector sensingdevice is in the second state.
 7. The surgical cannula of claim 2,wherein the electrical connector sensing device comprises a pushrodconfigured to move from a first position corresponding to the firststate to a second position corresponding to the second state.
 8. Thesurgical cannula of claim 7, wherein the pushrod comprises a portionconfigured to mechanically contact the electrical connector when theelectrical connector is engaged with the electrical connector interface.9. The surgical cannula of claim 8, wherein: the electrical connectorinterface comprises a receptacle, and a portion of the pushrod isdisposed within the receptacle.
 10. The surgical cannula of claim 2,wherein the electrical connector sensing device comprises a shutterconfigured to move between a first position corresponding to the firststate and a second position corresponding to the second state.
 11. Thesurgical cannula of claim 1, wherein the electrical connector sensingdevice comprises a radio-frequency identification device.
 12. Thesurgical cannula of claim 1, further comprising an attachment portionconfigured to be attached to a portion of a manipulator arm of asurgical system.
 13. The surgical cannula of claim 1, wherein theelectrical connector sensing device is further configured to output asignal containing information regarding an engaged or disengaged stateof the electrical connector with the electrical connector interface. 14.A surgical system, comprising: a surgical manipulator; a cannula,comprising: an attachment portion configured for attachment to thesurgical manipulator; an electrical connector interface configured toremovably engage with an electrical connector electrically coupled witha patient return electrode; and an electrical connector sensing deviceconfigured to provide information to a controller of the surgical systemregarding an engaged or disengaged state of the electrical connectorwith the electrical connector interface.
 15. The surgical system ofclaim 14, wherein a user interface of the surgical system is configuredto display a visible notification when the electrical connector is inthe disengaged state.
 16. The surgical system of claim 14, wherein thesurgical system is configured to provide an audible notification whenthe return electrode is in the disengaged state.
 17. The surgical systemof claim 14, wherein at least one function of the surgical system isconfigured to be disabled when the return electrode is in the disengagedstate.
 18. A method comprising: positioning an electrode in conductivecontact with an electrically conductive body; engaging an electricalconnector operatively coupled to the electrode to an electricalconnector interface of a surgical cannula, wherein the engagingelectrically couples the electrical connector and the electricalconnector interface of the surgical cannula; and changing a state of anelectrical connector sensing device responsive to the engaging of theelectrical connector and the electrical connector interface of thesurgical cannula.
 19. The method of claim 18, wherein changing the stateof the electrical connector sensing device comprises changing aconfiguration of at least one magnet disposed within the surgicalcannula.
 20. The method of claim 18, wherein changing the state of theelectrical connector sensing device comprises changing radio-frequencyelectromagnetic waves being sensed by the electrical connector sensingdevice.